[Robotvision-commit] SF.net SVN: robotvision:[5] robotVision2
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[Robotvision-commit] SF.net SVN: robotvision:[5] robotVision2
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From: <phi...@us...> - 2010-05-14 11:34:00
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Revision: 5
http://robotvision.svn.sourceforge.net/robotvision/?rev=5&view=rev
Author: phildavidson
Date: 2010-05-14 11:33:54 +0000 (Fri, 14 May 2010)
Log Message:
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Added Paths:
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robotVision2/images/
robotVision2/images/pic1.png
robotVision2/images/pic2.png
robotVision2/images/pic3.png
robotVision2/images/pic4.png
robotVision2/images/pic5.png
robotVision2/images/pic6.png
robotVision2/images/pipe.PNG
robotVision2/src/
robotVision2/src/squares.c
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Added: robotVision2/src/squares.c
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--- robotVision2/src/squares.c (rev 0)
+++ robotVision2/src/squares.c 2010-05-14 11:33:54 UTC (rev 5)
@@ -0,0 +1,244 @@
+//
+// The full "Square Detector" program.
+// It loads several images subsequentally and tries to find squares in
+// each image
+//
+#ifdef _CH_
+#pragma package <opencv>
+#endif
+
+#define CV_NO_BACKWARD_COMPATIBILITY
+
+#include <cv.h>
+#include <highgui.h>
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+
+int thresh = 50;
+IplImage* img = 0;
+IplImage* img0 = 0;
+CvMemStorage* storage = 0;
+const char* wndname = "Square Detection Demo";
+
+
+char* names[] = { "images/pic1.png", "images/pic2.png", "images/pic3.png",
+ "images/pic4.png", "images/pic5.png", "images/pic6.png", "images/pipe.png", 0 };
+
+CvSeq* findSquares4( IplImage*, CvMemStorage*);
+void drawSquares( IplImage*, CvSeq*);
+
+int main(int argc, char** argv)
+{
+ int i, c;
+ // create memory storage that will contain all the dynamic data
+ storage = cvCreateMemStorage(0);
+
+ for( i = 0; names[i] != 0; i++ )
+ {
+ // load i-th image
+ img0 = cvLoadImage( names[i], 1 );
+ if( !img0 )
+ {
+ printf("Couldn't load %s\n", names[i] );
+ continue;
+ }
+ img = cvCloneImage( img0 );
+
+ // create window and a trackbar (slider) with parent "image" and set callback
+ // (the slider regulates upper threshold, passed to Canny edge detector)
+ cvNamedWindow( wndname, 1 );
+
+ // find and draw the squares
+ //drawSquares( img, findSquares4( img, storage ) );
+
+ /**********HERE*****************
+ IplImage* timg = cvCloneImage( img ); // make a copy of input image
+ IplImage* gray = cvCreateImage( sz, 8, 1 );
+ IplImage* pyr = cvCreateImage( cvSize(sz.width/2, sz.height/2), 8, 3 );
+ IplImage* tgray;
+ cvPyrDown( timg, pyr, 7 );
+ cvPyrUp( pyr, timg, 7 );
+ tgray = cvCreateImage( sz, 8, 1 );
+ cvThreshold( tgray, gray, 200, 255, CV_THRESH_BINARY );
+ */
+
+ // wait for key.
+ // Also the function cvWaitKey takes care of event processing
+ c = cvWaitKey(0);
+ // release both images
+ cvReleaseImage( &img );
+ cvReleaseImage( &img0 );
+ // clear memory storage - reset free space position
+ cvClearMemStorage( storage );
+ if( (char)c == 27 )
+ break;
+ }
+
+ cvDestroyWindow( wndname );
+
+ return 0;
+}
+
+// helper function:
+// finds a cosine of angle between vectors
+// from pt0->pt1 and from pt0->pt2
+double angle( CvPoint* pt1, CvPoint* pt2, CvPoint* pt0 )
+{
+ double dx1 = pt1->x - pt0->x;
+ double dy1 = pt1->y - pt0->y;
+ double dx2 = pt2->x - pt0->x;
+ double dy2 = pt2->y - pt0->y;
+ return (dx1*dx2 + dy1*dy2)/sqrt((dx1*dx1 + dy1*dy1)*(dx2*dx2 + dy2*dy2) + 1e-10);
+}
+
+// returns sequence of squares detected on the image.
+// the sequence is stored in the specified memory storage
+CvSeq* findSquares4( IplImage* img, CvMemStorage* storage )
+{
+ CvSeq* contours;
+ int i, c, l, N = 11;
+ CvSize sz = cvSize( img->width & -2, img->height & -2 );
+ IplImage* timg = cvCloneImage( img ); // make a copy of input image
+ IplImage* gray = cvCreateImage( sz, 8, 1 );
+ IplImage* pyr = cvCreateImage( cvSize(sz.width/2, sz.height/2), 8, 3 );
+ IplImage* tgray;
+ CvSeq* result;
+ double s, t;
+ // create empty sequence that will contain points -
+ // 4 points per square (the square's vertices)
+ CvSeq* squares = cvCreateSeq( 0, sizeof(CvSeq), sizeof(CvPoint), storage );
+
+ // select the maximum ROI in the image
+ // with the width and height divisible by 2
+ cvSetImageROI( timg, cvRect( 0, 0, sz.width, sz.height ));
+
+ // down-scale and upscale the image to filter out the noise
+ cvPyrDown( timg, pyr, 7 );
+ cvPyrUp( pyr, timg, 7 );
+ tgray = cvCreateImage( sz, 8, 1 );
+
+ // find squares in every color plane of the image
+ for( c = 0; c < 3; c++ )
+ {
+ // extract the c-th color plane
+ cvSetImageCOI( timg, c+1 );
+ cvCopy( timg, tgray, 0 );
+
+ // try several threshold levels
+ //for( l = 0; l < N; l++ )
+ //{
+ // hack: use Canny instead of zero threshold level.
+ // Canny helps to catch squares with gradient shading
+ if( l == 0 )
+ {
+ // apply Canny. Take the upper threshold from slider
+ // and set the lower to 0 (which forces edges merging)
+ cvCanny( tgray, gray, 0, thresh, 5 );
+ // dilate canny output to remove potential
+ // holes between edge segments
+ cvDilate( gray, gray, 0, 1 );
+ }
+ else
+ {
+ // apply threshold if l!=0:
+ // tgray(x,y) = gray(x,y) < (l+1)*255/N ? 255 : 0
+ cvThreshold( tgray, gray, 200, 255, CV_THRESH_BINARY );
+ }
+
+ // find contours and store them all as a list
+ cvFindContours( gray, storage, &contours, sizeof(CvContour),
+ CV_RETR_LIST, CV_CHAIN_APPROX_SIMPLE, cvPoint(0,0) );
+
+ // test each contour
+ while( contours )
+ {
+ // approximate contour with accuracy proportional
+ // to the contour perimeter
+ result = cvApproxPoly( contours, sizeof(CvContour), storage,
+ CV_POLY_APPROX_DP, cvContourPerimeter(contours)*0.02, 0 );
+ // square contours should have 4 vertices after approximation
+ // relatively large area (to filter out noisy contours)
+ // and be convex.
+ // Note: absolute value of an area is used because
+ // area may be positive or negative - in accordance with the
+ // contour orientation
+ if( result->total == 4 &&
+ cvContourArea(result,CV_WHOLE_SEQ,0) > 1000 &&
+ cvCheckContourConvexity(result) )
+ {
+ s = 0;
+
+ for( i = 0; i < 5; i++ )
+ {
+ // find minimum angle between joint
+ // edges (maximum of cosine)
+ if( i >= 2 )
+ {
+ t = fabs(angle(
+ (CvPoint*)cvGetSeqElem( result, i ),
+ (CvPoint*)cvGetSeqElem( result, i-2 ),
+ (CvPoint*)cvGetSeqElem( result, i-1 )));
+ s = s > t ? s : t;
+ }
+ }
+
+ // if cosines of all angles are small
+ // (all angles are ~90 degree) then write quandrange
+ // vertices to resultant sequence
+ if( s < 0.3 )
+ for( i = 0; i < 4; i++ )
+ cvSeqPush( squares,
+ (CvPoint*)cvGetSeqElem( result, i ));
+ }
+
+ // take the next contour
+ contours = contours->h_next;
+ }
+ //}
+ }
+
+ // release all the temporary images
+ cvReleaseImage( &gray );
+ cvReleaseImage( &pyr );
+ cvReleaseImage( &tgray );
+ cvReleaseImage( &timg );
+
+ return squares;
+}
+
+
+// the function draws all the squares in the image
+void drawSquares( IplImage* img, CvSeq* squares )
+{
+ CvSeqReader reader;
+ IplImage* cpy = cvCloneImage( img );
+ int i;
+
+ // initialize reader of the sequence
+ cvStartReadSeq( squares, &reader, 0 );
+
+ // read 4 sequence elements at a time (all vertices of a square)
+ for( i = 0; i < squares->total; i += 4 )
+ {
+ CvPoint pt[4], *rect = pt;
+ int count = 4;
+
+ // read 4 vertices
+ CV_READ_SEQ_ELEM( pt[0], reader );
+ CV_READ_SEQ_ELEM( pt[1], reader );
+ CV_READ_SEQ_ELEM( pt[2], reader );
+ CV_READ_SEQ_ELEM( pt[3], reader );
+
+ // draw the square as a closed polyline
+ cvPolyLine( cpy, &rect, &count, 1, 1, CV_RGB(0,255,0), 3, CV_AA, 0 );
+ }
+
+ // show the resultant image
+ cvShowImage( wndname, cpy );
+ cvReleaseImage( &cpy );
+}
+
+
+
+
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